Insertion/removal supporting apparatus and insertion/removal supporting method

ABSTRACT

A supporting apparatus for supporting insertion of a flexible insertion member into a subject and removal of the insertion member includes an attention point acquisition unit, a first displacement acquisition unit and a determination unit. The attention point acquisition unit specifies at least one first attention point specified by a shape of the insertion member. The first displacement acquisition unit acquires a first displacement of the first attention point. The determination unit determines how a state of the insertion member or the subject is at a position corresponding to the first attention point, based on displacement information including information on the first displacement.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation application of PCT Application No.PCT/JP2014/083747, filed Dec. 19, 2014, the entire contents of all ofwhich are incorporated herein by references.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to an insertion/removal supportingapparatus and an insertion/removal supporting method.

2. Description of the Related Art

An insertion/removal apparatus having an elongated insertion member,such as the insertion section of an endoscope, is generally known in theart. For example, when the insertion section of an endoscope is insertedinto a subject, the user should preferably know the state of theinsertion section. If the state of the insertion section is known, theuser can easily insert the insertion section into the subject. Under thecircumstances, a number of technologies for permitting the user to knowthe state of the insertion member of an insertion/removal apparatus areknown in the art.

For example, Jpn. Pat. Appln. KOKAI Publication No. 2007-44412 disclosesthe following technology. According to the technology, an endoscopeinsertion shape detecting probe is provided in the insertion section ofan endoscope. The endoscope insertion shape detecting probe includesdetection light transmission means. The detection light transmissionmeans is configured to change the optical loss amount in accordance witha bending angle. The use of such an endoscope insertion shape detectingprobe enables detection of a bending angle of the insertion section ofthe endoscope. As a result, the bending shape of the insertion sectionof the endoscope can be reproduced.

For example, Jpn. Pat. Appln. KOKAI Publication No. 6-154153 disclosesthe following technology. According to the technology, a sensor supportmember is provided in the insertion section of an endoscope, and adistortion gauge is attached to the sensor support member. The use ofthe distortion gauge enables detection of an external force which isapplied to the insertion section of the endoscope in a specificdirection. As a result, information on the external force applied to theinsertion section of the endoscope can be acquired.

For example, Jpn. Pat. Appln. KOKAI Publication No. 2000-175861discloses the following technology. According to the technology, anendoscope system is provided with shape estimation means for estimatingthe shape of the insertion section of an endoscope. Based on how theshape estimation means estimates the shape of the insertion section ofthe endoscope, the endoscope system issues a warning, when required. Forexample, if the insertion section of the endoscope is detected asforming a loop, the user is warned to take notice of the state bydisplay or sound.

There is a demand for an apparatus and a method which enable the user toknow, in more detail, how the state of the insertion section of aninsertion/removal apparatus is. There is also a demand for an apparatusand method which enable the user to know, in more detail, how the stateof the subject is when the insertion section is inserted therein.

BRIEF SUMMARY OF THE INVENTION

According to an aspect of the present invention, supporting apparatusfor supporting insertion of a flexible insertion member into a subjectand removal thereof, comprising an attention point acquisition unitwhich specifies at least one first attention point specified by a shapeof the insertion member, a first displacement acquisition unit whichacquires a first displacement of the first attention point, and adetermination unit which determines the state of the insertion member orthe subject at a position corresponding to the first attention point,based on displacement information including information on the firstdisplacement.

According to another aspect of the present invention, a supportingmethod for supporting insertion of a flexible insertion member into asubject and removal thereof, comprising specifying at least oneattention point specified by a shape of the insertion member, acquiringa first displacement of the attention point; and determining how a stateof the insertion member or the subject is at a position corresponding tothe attention point, based on displacement information includinginformation on the first displacement.

Advantages of the invention will be set forth in the description whichfollows, and in part will be obvious from the description, or may belearned by practice of the invention. The advantages of the inventionmay be realized and obtained by means of the instrumentalities andcombinations particularly pointed out hereinafter.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of the specification, illustrate embodiments of the invention, andtogether with the general description given above and the detaileddescription of the embodiments given below, serve to explain theprinciples of the invention.

FIG. 1 schematically illustrates an exemplary configuration of aninsertion/removal apparatus according to one embodiment.

FIG. 2 illustrates an exemplary configuration of a sensor arranged at anendoscope according to one embodiment.

FIG. 3 illustrates an exemplary configuration of a sensor arranged at anendoscope according to one embodiment.

FIG. 4 illustrates an exemplary configuration of a sensor arranged at anendoscope according to one embodiment.

FIG. 5 schematically illustrates an exemplary configuration of a shapesensor according to one embodiment.

FIG. 6 schematically illustrates an exemplary configuration of aninsertion amount sensor according to one embodiment.

FIG. 7 schematically illustrates an exemplary configuration of aninsertion amount sensor according to one embodiment.

FIG. 8 is an explanatory diagram illustrating information obtained by asensor according to one embodiment.

FIG. 9 illustrates a first state determination method and schematicallyillustrates how an insertion section is moved from time t1 to time t2.

FIG. 10 illustrates the first state determination method andschematically illustrates an example of how the insertion section ismoved from time t2 to time t3.

FIG. 11 illustrates the first state determination method andschematically illustrates another example of how the insertion sectionis moved from time t2 to time t3.

FIG. 12 is a block diagram schematically illustrating an exemplaryconfiguration of an insertion/removal supporting apparatus employed inthe first state determination method.

FIG. 13 is a flowchart illustrating an example of processing performedin the first state determination method.

FIG. 14 illustrates a first variant of the first state determinationmethod and schematically illustrates how an insertion section is movedfrom time t1 to time t2.

FIG. 15 illustrates the first variant of the first state determinationmethod and schematically illustrates an example of how the insertionsection is moved from time t2 to time t3.

FIG. 16 illustrates the first variant of the first state determinationmethod and schematically illustrates another example of how theinsertion section is moved from time t2 to time t3.

FIG. 17 illustrates a second variant of the first state determinationmethod and schematically illustrates an example of how an insertionsection is moved.

FIG. 18 illustrates a second state determination method andschematically illustrates how an insertion section is moved from time t1to time t2.

FIG. 19 illustrates the second state determination method andschematically illustrates an example of how the insertion section ismoved from time t2 to time t3.

FIG. 20 illustrates the second state determination method andschematically illustrates another example of how the insertion sectionis moved from time t2 to time t3.

FIG. 21 illustrates how an attention point changes its position withtime.

FIG. 22 is a block diagram schematically illustrating an exemplaryconfiguration of an insertion/removal supporting apparatus employed inthe second state determination method.

FIG. 23 is a flowchart illustrating an example of processing performedin the second state determination method.

FIG. 24 illustrates a variant of the second state determination methodand schematically illustrates an example of how an insertion section ismoved.

FIG. 25 illustrates the variant of the second state determination methodand schematically illustrates an example of how the insertion section ismoved.

FIG. 26 illustrates a third state determination method and schematicallyillustrates how an insertion section is moved from time t1 to time t2.

FIG. 27 illustrates the third state determination method andschematically illustrates an example of how the insertion section ismoved from time t2 to time t3.

FIG. 28 illustrates the third state determination method andschematically illustrates another example of how the insertion sectionis moved from time t2 to time t3.

FIG. 29 illustrates the third state determination method andschematically illustrates an example of how the insertion section ismoved.

FIG. 30 illustrates the third state determination method andschematically illustrates an example of how an insertion section ismoved.

FIG. 31 schematically illustrates how an attention point of an insertionsection changes its position.

FIG. 32 schematically illustrates an example of how an insertion sectionis moved.

FIG. 33 illustrates an example of how the distance between an attentionpoint and the distal end of an insertion section changes with time.

FIG. 34 schematically illustrates another example of how the insertionsection is moved.

FIG. 35 illustrates another example of how the distance between theattention point and the distal end of the insertion section changes withtime.

FIG. 36 illustrates an example of how self-following property changeswith time.

FIG. 37 is a block diagram schematically illustrating an exemplaryconfiguration of an insertion/removal supporting apparatus employed inthe third state determination method.

FIG. 38 is a flowchart illustrating an example of processing performedin the third state determination method.

FIG. 39 illustrates a fourth state determination method andschematically illustrates an example of how an insertion section ismoved.

FIG. 40 illustrates a relationship between tangential direction and anamount of movement in the fourth state determination method.

FIG. 41 illustrates an example of changes in the ratio of atangential-direction in the displacement of an insertion section withtime.

FIG. 42 illustrates another example of changes in the ratio of thetangential-direction in the displacement of the insertion section withtime.

FIG. 43 illustrates an example of changes in lateral movement of aninsertion section with time.

FIG. 44 is a block diagram schematically illustrating an exemplaryconfiguration of an insertion/removal supporting apparatus employed inthe fourth state determination method.

FIG. 45 is a flowchart illustrating an example of processing performedin the fourth state determination method.

FIG. 46 illustrates a variant of the fourth state determination methodand schematically illustrates an example of how an insertion section ismoved.

FIG. 47 illustrates an example of how the distal end advance of aninsertion section changes with time.

DETAILED DESCRIPTION OF THE INVENTION

One embodiment of the present invention will be described with referenceto the accompanying drawings. FIG. 1 schematically illustrates anexemplary configuration of an insertion/removal apparatus 1 according tothe embodiment. The insertion/removal apparatus 1 comprises aninsertion/removal supporting apparatus 100, an endoscope 200, acontroller 310, a display 320 and an input device 330.

The endoscope 200 is a general type of endoscope. The controller 310controls the operation of the endoscope 200. The controller 310 mayacquire information required for control from the endoscope 200. Thedisplay 320 is a general type of display. The display 320 includes, forexample, a liquid crystal display. The display 320 is configured to showimages acquired by the endoscope 200 and information created by thecontroller 310 and related to an operation of the endoscope 200. Theinput device 330 accepts user's inputs to be supplied to theinsertion/removal supporting apparatus 100 and the controller 310. Theinput device 330 includes, for example, a button switch, a dial, a touchpanel and a keyboard etc. The insertion/removal supporting apparatus 100performs information processing for supporting the user's operation ofinserting the insertion section of the endoscope 200 into a subject andremoving the insertion section from the subject.

The endoscope 200 of the present embodiment is, for example, alarge-intestine endoscope, that is colonoscope. As shown in FIGS. 2 to4, the endoscope 200 comprises an insertion section 203, which is anelongated insertion member having flexibility, and an operation section205 provided at an end of the insertion section 203. In the descriptionsset forth below, that end of the insertion section 203 at which theoperation section 205 is provided will be referred to as a rear end, andthe other end of the insertion section 203 will be referred to as adistal end.

A camera is provided at the distal end of the insertion section 203, andimages are acquired by the camera. After being subjected to generalimage processing, the acquired images are displayed on the display 320.A bending portion is provided at the distal end of the insertion section203, and the bending portion is bent in response to an operation of theoperation section 205. The user inserts the insertion section 203 intothe subject, for example, by grasping the operation section 205 with hisor her left hand and advancing or retreating the insertion section 203with his or her right hand. In this type of endoscope 200, a sensor 201is arranged at the insertion section 203 to acquire the position of eachportion of the insertion section 203 and the shape of the insertionsection 203.

The sensor 201 is one of various types of sensors. A configurationexample of the sensor 201 will be described with reference to FIGS. 2 to4.

FIG. 2 shows a first example of the configuration of the sensor 201. Inthe first example, the insertion section 203 is provided with a shapesensor 211 and an insertion amount sensor 212. The shape sensor 211 is asensor for acquiring the shape of the insertion section 203. Based on anoutput of the shape sensor 211, the shape of the insertion section 203can be acquired. The insertion amount sensor 212 is a sensor foracquiring an insertion amount by which the insertion section 203 isinserted into a subject. Based on an output of the insertion amountsensor 212, the position of a predetermined rear end portion of theinsertion section 203 measured by the insertion amount sensor 212 can beacquired. The position at each portion of the insertion section 203 canbe acquired based on both the position of the predetermined rear endportion of the insertion section 203 and the shape of the insertionsection 203 including the predetermined rear end portion.

FIG. 3 shows a second example of the configuration of the sensor 201. Inthe second example, the insertion section 203 is provided with a shapesensor 221 for acquiring the shape of the insertion section 203, and aposition sensor 222. The position sensor 222 detects the position of aportion where the position sensor 222 is arranged. FIG. 3 shows anexample in which the position sensor 222 is at the distal end of theinsertion section 203. The position, direction and curvature of eachportion (any portion desired) of the insertion section 203 can beacquired by either calculation or estimation, based on the shape of theinsertion section 203 acquired based on the output of the shape sensor221 and the position acquired based on the output of the position sensor222 and representing the portion where the position sensor 222 isprovided.

FIG. 4 shows a third example of the configuration of the sensor 201. Inthe third example, the insertion section 203 is provided with aplurality of position sensors 230 for acquiring the respective positionsof the insertion section 203. Based on outputs of the position sensors230, positions of those portions where the position sensors 230 areprovided in the insertion section 203 can be acquired. The shape of theinsertion section 203 can be acquired by combination of information onthe positions.

A configuration example of the shape sensor 211, 221 will be describedwith reference to FIG. 5. The shape sensor 260 provided in the insertionsection 203 of this example includes a plurality of shape detectors 261.For the sake of simplicity, FIG. 5 shows a case where four shapedetectors 261 are provided. To be more specific, the shape sensor 260includes a first shape detector 261-1, a second shape detector 261-2, athird shape detector 261-3 and a fourth shape detector 261-4. The numberof shape detectors may be any number.

Each shape detector 261 includes an optical fiber 262 extending alongthe insertion section 203. A reflector 264 is provided at the distal endof the optical fiber 262. A branching portion 263 is provided in therear end portion of the optical fiber 262. A light-incidence lens 267and a light source 265 are provided at the end of one branch portion ofthe rear end portion of the optical fiber 262. A light-emission lens 268and a light detector 266 are provided at the end of the other branchportion of the rear end portion of the optical fiber 262. The opticalfiber 262 is provided with a detection area 269. In this detection area269, the first shape detector 261-1 is provided with a first detectionarea 269-1, the second shape detector 261-2 is provided with a seconddetection area 269-2, the third shape detector 261-3 is provided with athird detection area 269-3, and the fourth shape detector 261-4 isprovided with a fourth detection area 269-4. These detection areas arearranged at positions different from each other in the longitudinaldirection of the insertion section 203.

The light emitted from the light source 265 passes through thelight-incidence lens 267 and is incident on the optical fiber 262. Thelight travels through the optical fiber 262 in the direction toward thedistal end and is reflected by the reflector 264 provided at the distalend. The reflected light travels through the optical fiber 262 in thedirection toward the rear end, passes through the light-emission lens268, and is then incident on the light detector 266. The lightpropagation efficiency in the detection area 269 changes in accordancewith the bending state of the detection area 269. Therefore, the bendingstate of the detection area 269 can be acquired based on the amount oflight detected by the light detector 266.

More specifically, the bending state of the first detection area 269-1can be acquired based on the amount of light detected by the lightdetector 266 of the first shape detector 261-1. Likewise, the bendingstate of the second detection area 269-2 can be acquired based on theamount of light detected by the light detector 266 of the second shapedetector 261-2, the bending state of the third detection area 269-3 canbe acquired based on the amount of light detected by the light detector266 of the third shape detector 261-3, and the bending state of thefourth detection area 269-4 can be acquired based on the amount of lightdetected by the light detector 266 of the fourth shape detector 261-4.In this manner, the bending states of the respective portions of theinsertion section 203 are detected, and the shape of the entireinsertion section 203 can be acquired.

Next, a configuration example of the insertion amount sensor 212 will bedescribed with reference to FIGS. 6 to 7.

FIG. 6 shows an example of the configuration of the insertion amountsensor 212. In this example, the insertion amount sensor 212 includes aholder 241 to be fixed at the insertion port of the subject. A firstencoder head 242 for detection in the insertion direction and a secondencoder head 243 for detection in the twisting direction are provided onthe holder 241. An encoder pattern is formed on the insertion section203. The first encoder head 242 detects an insertion amount of theinsertion section 203 in the longitudinal direction when the insertionsection 203 is inserted, based on the encoder pattern formed on theinsertion section 203. The second encoder head 243 detects a rotationamount of the insertion section 203 in the circumferential directionwhen the insertion section 203 is inserted, based on the encoder patternformed on the insertion section 203.

FIG. 7 shows another example of the configuration of the insertionamount sensor 212. In this example, the insertion amount sensor 212includes a first roller 246 for detection in the insertion direction, afirst encoder head 247 for detection in the insertion direction, asecond roller 248 for detection in the twisting direction, and a secondencoder head 249 for detection in the twisting direction. When theinsertion section 203 moves in the longitudinal direction, the firstroller 246 rotates in accordance with the movement. An encoder patternis formed on the first roller 246. A first encoder head 247 is opposedto the first roller 246. The first encoder head 247 detects an insertionamount of the insertion section 203 in the longitudinal direction whenthe insertion section 203 is inserted, based on how the first roller 246is rotated by the insertion. When the insertion section 203 rotates inthe circumferential direction, the second roller 248 rotates inaccordance with the rotation. An encoder pattern is formed on the secondroller 248. A second encoder head 249 is opposed to the second roller248. The second encoder head 249 detects a rotation amount of theinsertion section 203 in the circumferential direction when theinsertion section 203 is inserted, based on how the second roller 248 isrotated by the rotation.

The insertion amount sensors 212 shown in FIGS. 6 and 7 use a positionof the insertion amount sensors 212 as a reference position and specifywhich portion of the insertion section 203 is located and also specifythe rotating angle of that portion. That is, the position of adiscretional portion of the insertion section 203 can be specified.

Next, a description will be given of the position sensors 222 and 230.Each of the position sensors 222 and 230 includes a coil provided in theinsertion section 203 and configured to generate a magnetic field, and areceiver provided outside the subject. The position of each coil can beacquired by detecting the magnetic field generated by the magnetic coilwith receiver. The position sensors are not limited to sensors utilizingmagnetic fields; they may be configured in a number of ways. Eachposition sensor may be made by a transmitter provided on the insertionsection 203 and configured to emit a light wave, a sound wave, anelectromagnetic wave or the like, and a receiver provided outside thesubject and configured to receive the signal emitted from thetransmitter.

Accordingly, information as described below can be obtained based onoutputs of the sensor 201 including the shape sensor, insertion amountsensor, position sensor and a combination thereof. The information thatcan be obtained will be described with reference to FIG. 8. The sensor201 enables acquisition of the position of the insertion section 203,for example, of the distal end 510 of the insertion section 203. Theposition of the distal end 510, for example, can be expressed ascoordinates using the insertion port of the subject as a reference.

For example, in the first example in which the shape sensor 211 and theinsertion amount sensor 212 are provided, as shown in FIG. 2, theposition of that portion of the insertion section 203 which is locatedat the insertion port of the subject is acquired. With this position asa reference and based on the shape of the insertion section 203 acquiredby the shape sensor 211, the position of the distal end 510 of theinsertion section 203 can be acquired relative to the insertion port ofthe subject.

For example, in the second example in which the shape sensor 221 and theposition sensor 222 are provided, as shown in FIG. 3, the position atwhich the position sensor 222 is provided in the insertion section 203is known. With this position as a reference and based on the shape ofthe insertion section 203 acquired by the shape sensor 221, the positionof the distal end 510 of the insertion section 203 can be acquiredrelative to the position sensor 222. Since the position of the positionsensor 222 relative to the subject can be acquired based on an output ofthe position sensor 222, the position of the distal end 510 of theinsertion section 203 relative to the insertion port of the subject canbe acquired. Where the position sensor 222 is located at the distal end510 of the insertion section 203, the position of the distal end 510 ofthe insertion section 203 relative to the insertion port of the subjectcan be directly acquired based on an output of the position sensor 222.

For example, in the third example in which the position sensor 230 isprovided, as shown in FIG. 4, the position of the distal end 510 of theinsertion section 203 relative to the insertion port of the subject canbe acquired based on an output from the position sensor 230 providednear the distal end of the insertion section 203.

Like the position of the distal end 510 of the insertion section 203,the position of any portion 520 of the insertion section 203 relative tothe insertion port of the subject can be acquired. In the above, theinsertion port of the subject is described as a reference position, butthis is not restrictive. The reference position may be any positiondesired. A point on the insertion section 203 which is (directly) sensedwill be referred to as a “detection point.” In the present embodiment,the point on the insertion section 203 from which position informationis (directly) acquired will be referred to as a “detection point.”

Based on an output of the sensor 201, the shape of the insertion section203 can be acquired. For example, where the shape sensors 211 and 221are provided as in the first and second examples mentioned above, theshape of the insertion section 203 can be acquired based on outputs ofthose sensors. Where a plurality of position sensors 230 are provided asin the third example, the shape of the insertion section 203 can beobtained based on the information detected by the position sensors 230and relating to the positions where the position sensors 230 arearranged, and operation results for interpolating the positions betweenthe position sensors 230.

Where the shape of the insertion section 203 is determined, thepositions of the characteristic portions of the insertion section 203can be obtained. For example, where a bending portion is regarded as apredetermined shape area 530, the position corresponding to theturn-around point 540 of the bending portion of the insertion section203 can be obtained. The turn-around point is determined, for example,as follows. In the example shown in FIG. 8, the insertion section 203 isfirst moved upward, as viewed in the drawing, is then bent, and is thenmoved downward. The turn-around point is defined as a point locateduppermost in FIG. 8. Where the insertion section 203 is bent, theturn-around point can be defined as an endmost point in a predetermineddirection. That point on the insertion section 203 from which sensinginformation is to be obtained directly or by estimation will be referredto as an “attention point.” In the present embodiment, the “attentionpoint” is a characteristic point determined based on the shape of theinsertion section 203. The attention point need not be the turn-aroundpoint described above but may be any point as long as it is acharacteristic point determined based on the shape of the insertionsection 203.

In order to acquire the above-mentioned information based on outputs ofthe sensor 201, the insertion/removal supporting apparatus 100 in thepresent embodiment comprises a position acquisition unit 110 and a shapeacquisition unit 120, as shown in FIG. 1. The position acquisition unit110 performs processing for the position information on the respectiveportions of the insertion section 203. The position acquisition unit 110includes a detection position acquisition unit 111. The detection pointacquisition unit 111 specifies the position of a detection point. Theposition acquisition unit 110 can specify not only the position of thedetection point but also a position of an attention point, which is anypoint of the insertion section 203 and can be determined based on anoutput of the sensor 201. The shape acquisition unit 120 performsprocessing for the information on the shape of the insertion section203. The shape acquisition unit 120 includes an attention pointacquisition unit 121. Based on the shape of the insertion section 203and the position information calculated by the position acquisition unit110, the attention point acquisition unit 121 specifies the position ofthe attention point that can be obtained based on the shape.

The insertion/removal supporting apparatus 100 comprises a statedetermination unit 130. By utilizing the information representing theposition of the detection point and the position of the attention point,the state determination unit 130 calculates a state of the insertionsection 203 or a state of the subject into which the insertion section203 is inserted. More specifically, as described later, it evaluates ina variety of ways whether the insertion section 203 moves in accordancewith a shape of the insertion section 203, namely whether the insertionsection 203 has self-following property. Based on the results ofevaluation, it calculates a state of the insertion section 203 or astate of the subject into which the insertion section 203 is inserted.

The insertion/removal supporting apparatus 100 further comprises asupport information generation unit 180. Based on the informationcalculated by the state determination unit 130 and representing thestate of the insertion section 203 or the state of the subject, thesupport information generation unit 180 generates support informationwhich supports the user when the user inserts the insertion section 203into the subject. The support information generated by the supportinformation generation unit 180 is expressed in words and figures, andthese are displayed on a display 320. Based on the informationcalculated by the state determination unit 130 and representing thestate of the insertion section 203 or the subject, the supportinformation generation unit 180 generates various information which thecontroller 310 uses for controlling the operation of the endoscope 200.

The insertion/removal supporting apparatus 100 further comprises aprogram memory 192 and a temporary memory 194. The program memory 192stores a program needed for an operation of the insertion/removalsupporting apparatus 100, predetermined parameters, etc. The temporarymemory 194 temporarily stores data generated by the respective units orsections of the insertion/removal supporting apparatus 100.

The insertion/removal supporting apparatus 100 further comprises arecording device 196. The recording device 196 stores supportinformation generated by the support information generation unit 180.The recording device 196 need not be provided inside theinsertion/removal supporting apparatus 100; it may be provided outsidethe insertion/removal supporting apparatus 100. Where the supportinformation is stored in the recording device 196, the followingadvantages are obtained. That is, it allows later reproduction oranalysis of the information representing the state of the insertionsection 203 or the state of the subject based on the support informationstored in the recording device 196. The information stored in therecording device 196 is used as reference information or historyinformation when the insertion section 203 is inserted into the samesubject.

For example, the position acquisition unit 110, the shape acquisitionunit 120, the state determination unit 130, and the support informationgeneration unit 180 or the like include a circuit/circuits such as aCentral Processing Unit (CPU), an Application Specific IntegratedCircuit (ASIC) or the like.

Next, a description will now be given as to how the informationrepresenting the state of the insertion section 203 or the subject iscalculated.

[First State Determination Method]

In the first state determination method, the state of the insertionsection 203 is determined based on the positional relations among aplurality of detection points.

FIG. 9 schematically illustrates how the insertion section 203 is movedfrom time t1 to time t2. The state of the insertion section 203 at timet1 is indicated by the thick solid line, while the state of theinsertion section 203 at time t2 is indicated by the broken line. In theexample shown in here, discretionary points in the distal end and therear end portion of the insertion section 203 are specified as attentionpoints. The discretionary portion on the rear end portion is regarded asa predetermined portion and will be referred to as a rear-side attentionpoint. It is assumed here that the position where the position sensor isarranged is the rear-side attention point. In other words, a descriptionwill be given, referring to the case where the rear-side attention pointis a detection point. This point will be hereinafter referred to as arear-side detection point. One of the attention points is not limited tobe at the distal end, it may be any point of the distal end portion, butthe following description will be given on the assumption that thedistal end is an attention point. In the description below, referencewill be made to the case where the position sensor is arranged at thedistal end portion. In other words, a description will be given of thecase where the distal end portion is a detection point.

At time t1, the distal end of the insertion section 203 is located at afirst distal end position 602-1. At time t1, the rear-side detectionpoint of the insertion section 203 is located at a first rear endposition 604-1. At time t2 which is after time t1 by Δt, the distal endof the insertion section 203 is located at a second distal end position602-2. At time t2, the rear-side detection point of the insertionsection 203 is located at a second rear end position 604-2.

Let us assume that the displacement from the first distal end position602-1 to the second distal end position 602-2, namely the positionalchange of the distal end, is ΔX21. Let us also assume that thedisplacement from the first rear end position 604-1 to the second rearend position 604-2, namely the positional change of the rear-sidedetection point, is ΔX11. Where the insertion section 203 is insertedalong the subject, as shown in FIG. 9, |ΔX21|≈|ΔX11| will be given.

FIG. 10 is a schematic diagram illustrating a case where the insertionsection 203 is inserted along the subject 910 in a flexure 914 of thesubject. At time t3 which is after time t2 by Δt, the distal end of theinsertion section 203 is located at a third distal end position 602-3.At time t3, the rear-side detection point of the insertion section 203is located at a third rear end position 604-3. Let us assume that thedisplacement from the second distal end position 602-2 to the thirddistal end position 602-3, namely the positional change of the distalend, is X22. Let us also assume that the displacement from the secondrear end position 604-2 to the third rear end position 604-3, namely thepositional change of the rear-side detection point, is ΔX12. Where theinsertion section 203 is inserted along the subject, as shown in FIG.10, |ΔX22|≈|ΔX12| will be given.

FIG. 11 is a schematic diagram illustrating a case where the insertionsection 203 is not inserted along the subject 910 in the flexure 914 ofthe subject. At time t3 which is after time t2 by Δt, the distal end ofthe insertion section 203 is located at a third distal end position602-3′. At time t3, the rear-side detection point of the insertionsection 203 is located at a third rear end position 604-3′. Let usassume that the displacement from the second distal end position 602-2to the third distal end position 602-3′, namely the positional change ofthe distal end, is ΔX22′. Let us also assume that the displacement fromthe second rear end position 604-2 to the third rear end position604-3′, namely the positional change of the rear-side detection point,is ΔX12′. Where the insertion section 203 is not inserted along thesubject, as shown in FIG. 11, |ΔX22′|≠|ΔX12′|(|ΔX22′|<|ΔX12′|) will begiven.

In FIGS. 9 to 11 in this example, both the time period from time t1 totime t2 and the time period from time t2 to time t3 are equal values it,as is often the case with automatic measurement, but they may bedifferent from each other. This holds true of the examples explainedbelow.

In the case shown in FIG. 11, the distal end of the insertion section203 is pushed or pressed by the subject 910, as indicated by theoutlined arrow. Conversely, a degree of push of the subject 910 by theinsertion section 203 increases at the distal end of the insertionsection 203. In the case shown in FIG. 11, the insertion section 203 isbuckled at the portion 609 between the distal end of the insertionsection 203 and the rear-side detection point thereof.

When the amount of movement of the rear-side detection point which is adetection point on the rear end portion of the insertion section 203 isequal to the amount of movement of the distal end which is a detectionpoint on the distal end portion of the insertion section 203, namely,when a degree of interrelation between the amount of movement of therear-side detection point and the amount of movement of the distal endis high, it can be presumed that the insertion section 203 is smoothlyinserted along the subject 910. When the amount of movement of thedistal end is shorter than the amount of movement of the rear-sidedetection point, namely, when the degree of interrelation between theamount of movement of the rear-side detection point and the amount ofmovement of the distal end is low, it can be presumed that the distalend of the insertion section 203 does not smoothly move or gets stuck.In such a case, an unintended situation or abnormality may be occurringbetween the distal end and the rear-side detection point. As can be seenfrom the above, the buckle of the insertion section 203 and a level ofpressing applied to the subject can be found based on analysis of thepositional relations between the detection points obtained in the firststate determination method. That is, the first state determinationmethod enables acquisition of information representing the state of theinsertion section or the state of the subject.

Let us assume that first operation support information α1 is introducedas a value representing the state of the insertion section 203 describedabove. The first operation support information α1 is defined as follows:α1≡|ΔX2|/|ΔX1|where ΔX2 is a displacement of the distal end and ΔX1 is a displacementof the rear-side detection point. The first operation supportinformation α1 indicates that the closer to 1 the value of the firstoperation support information α1 is, the more properly the insertionsection 203 is inserted along the subject 910.

The first operation support information α1 may be defined as follows:α1≡(|ΔX2|+C2)^(L)/(|ΔX1|+C1)^(M)where C1, C2, L and M are any real numbers.

By way of example, assuming that the detection noise component levels ofΔX1 and ΔX2 are N1 and N2 (N1, N2≥0), parameters C1, C2, L and M aredefined as follows:

$\begin{matrix}{{C\; 1} = {N\; 1}} & {{{\Delta\; X\; 1}} \geqq {N\; 1}} \\{{C\; 2} = {{- N}\; 2}} & {{{\Delta\; X\; 2}} \geqq {N\; 2}} \\{= {- {{\Delta\; X\; 2}}}} & {{{\Delta\; X\; 2}} < {N\; 2}}\end{matrix}$ L = M = 1

As N1 and N2, values which are approximately three times as large as thestandard deviations (σ) of noise levels may be set.

In the measure against noise, C1 is positive and C2 is negative, asabove, and by taking such a measure, the first operation supportinformation α1 is obtained which reduces the adverse effects by thedetection noise and lessens the detection errors caused by the detectionnoise. The way for reducing the adverse effects of noise can be appliedto the calculation of other support information described later.

Where the endoscope 200 is a large-intestine endoscope, that iscolonoscope, and the subject 910 is the large intestine, the flexure 914mentioned above corresponds to the top portion of sigmoid colon(so-called “S-top”).

FIG. 12 schematically illustrates a configuration example of theinsertion/removal supporting apparatus 100 which can be employed forimplementing the first state determination method.

The insertion/removal supporting apparatus 100 comprises a positionacquisition unit 110 including a detection point acquisition unit 111, astate determination unit 130, and a support information generation unit180. The detection point acquisition unit 111 acquires the positions ofa plurality of detection points, based on information output from thesensor 201.

The state determination unit 130 includes a displacement informationacquisition unit 141, an interrelation calculation unit 142, and abuckle determination unit 143. The displacement information acquisitionunit 141 calculates displacements of detection points, based on how thepositions of the detection points change with time. The interrelationcalculation unit 142 calculates a degree of interrelation of thedetection points, based on the displacements of the detection points andthe interrelation information 192-1 stored in the program memory 192.The interrelation information 192-1 includes, for example, arelationship between the difference between the displacements of thedetection points and an evaluation value of the degree of interrelation.The buckle determination unit 143 determines a buckle state of theinsertion section 203, based on the calculated interrelation anddetermination reference information 192-2 stored in the program memory192. The determination reference information 192-2 includes, forexample, the relationship between the degree of interrelation and thebuckle state.

The support information generation unit 180 generates operation supportinformation, based on the determined buckle state. The operation supportinformation is fed back to the control of the controller 310, isdisplayed on the display 320, or is stored in the recording device 196.

How the insertion/removal supporting apparatus 100 operates in the firststate determination method will be described with reference to theflowchart shown in FIG. 13.

In step S101, the insertion/removal supporting apparatus 100 acquiresoutput data from the sensor 201. In step S102, the insertion/removalsupporting apparatus 100 acquires positions of detection points, basedon the data acquired in step S101.

In step S103, the insertion/removal supporting apparatus 100 acquireshow the position of each detection point changes with time. In stepS104, the insertion/removal supporting apparatus 100 evaluatesdifferences between change amounts of positions of each detection point.That is, it calculates the degree of interrelation of the variation inposition of the respective detection points. In step S105, theinsertion/removal supporting apparatus 100 perform evaluation of bucklesuch as whether a buckle occurs between the detection points and, if thebuckle occurs, evaluates the state of the buckle, based on the degree ofinterrelation calculated in step S104.

In step S106, the insertion/removal supporting apparatus 100 generatesproper support information to be used in later processing, based on theevaluation result representing whether the buckle occurs, and outputsthe support information, for example, to the controller 310 and thedisplay 320.

In step S107, the insertion/removal supporting apparatus 100 determineswhether a termination signal for terminating the processing is entered.Unless the termination signal is entered, the processing returns to stepS101. That is, the processing mentioned above is repeated until thetermination signal is entered, and operation support information isoutput. If the termination signal is entered, the processing is broughtto an end.

The use of the first state determination method enables positions of twoor more detection points to be specified, and operation supportinformation representing whether the abnormality (e.g., a buckled stateof the insertion section 203) is occurred or not is generated (e.g.)based on the degree of interrelation of the amount of movements of thedetection points.

In the above example, it is shown that the operation support informationis generated by directly sensing the positions of the detection points.However, the present invention is not limited to this. The operationsupport information may be generated using information on attentionpoints, namely any points of the insertion section 203. Where thepositions of attention points are used, the positions of the attentionpoints are acquired not by the detection point acquisition unit 111 butby the position acquisition unit 110, and the positions of the acquiredattention points are used. In the other respects, the processing issimilar to that described above.

[First Variant]

In the above example, it is shown that the number of detection points istwo. However, this is not restrictive, and the number of detectionpoints may be any number desired. If the number of detection points islarge, it allows acquiring detailed information on the state of theinsertion section 203. Where the number of detection points is four, asshown in FIG. 14, information on the insertion section 203 is acquiredas below. That is, in this example, four detection points 605-1, 606-1,607-1 and 608-1 are provided on the insertion section 203, as shown inFIG. 14. Where the insertion section 203 is inserted along the subject910 from time t1 to time t2, the amount of movements ΔX51, ΔX61, ΔX71and ΔX81 between the positions where the four detection points 605-1,606-1, 607-1 and 608-1 are located at time t1 and the positions wherethe four positions 605-2, 606-2, 607-2 and 608-2 are located at time t2are substantially equal to each other.

Where the insertion section 203 is inserted along the subject 910 fromtime t2 to time t3, as shown in FIG. 15, the amount of movements ΔX52,ΔX62, ΔX72 and ΔX82 between the positions where the four detectionpoints 605-2, 606-2, 607-2 and 608-2 are located at time t2 and thepositions where the four detection points 605-3, 606-3, 607-3 and 608-3are located at time t3 are substantially equal to each other.

On the other hands, where the insertion section 203 is not insertedalong the subject 910 from time t2 to time t3, as shown in FIG. 16, theamount of movements ΔX52′, ΔX62′, ΔX72′ and ΔX82′ between the positionswhere the four detection points 605-2, 606-2, 607-2 and 608-2 arelocated at time t2 and the positions where the four detection points605-3′, 606-3′, 607-3′ and 608-3′ are located at time t3 are not equalto each other. More specifically, the first amount of movement Δ52′ ofthe foremost detection point 605 of the detection points, the secondamount of movement Δ62′ of the second detection point 606 which is inthe second from the distal end, the third amount of movement Δ72′ of thethird detection point 607 which is in the third from the distal end andthe fourth amount of movement Δ82′ of the most rear-side detection point608 of the detection points differ from each other. The first amount ofmovement Δ52′ and the second amount of movement Δ62′ are approximatelyequal to each other, the third amount of movement Δ72′ and the fourthamount of movement Δ82′ are approximately equal to each other, and thesecond amount of movement Δ62′ and the third amount of movement Δ72′differ greatly from each other and satisfy |Δ62′|<|Δ72′|. From theseresults, it can be determined that a buckle occurs between the seconddetection point 606 and the third detection point 607. Where the numberof detection points is large, the amount of information increases,accordingly. As a result, detailed information on the state of theinsertion section 203 can be obtained. If the number of detection pointsis large, the portion of the insertion section 203 where abnormality(e.g., a buckle) occurs can be specified.

[Second Variant]

When the distal end of the insertion section 203 gets struck althoughthe rear end portion of the insertion section 203 is inserted, theinsertion section 203 may be buckled in the subject, but this is not theonly phenomenon the state shows. That is, for example, a flexure of thesubject may be deformed (extended) by the insertion section 203, asshown in FIG. 17. In FIG. 17, the shape which the insertion section 203takes at time t4 and the shape which the insertion section 203 takes attime t5 which is after time t4 by Δt are schematically illustrated. Inthis case as well, the second amount of movement ΔX23, which is thedifference between the position 602-4 where the foremost end is locatedat time t4 and the position 602-5 where the foremost end is located attime t5, is shorter than the first amount of movement ΔX13, which is thedifference between the position 604-4 where the rear end is located attime t4 and the position 604-5 where the rear end is located at time t5.That is, the degree of interrelation of the amounts of movement betweenthe two detection points is low.

As described above, the first state determination method enablesdetection of not only a buckle but also a change in the insertion statethat is not intended as a detection target, such as the deformation ofthe subject 910 caused by the insertion section 203.

[Second State Determination Method]

In the second state determination method, the state of the insertionsection 203 is determined based on how the position of a characteristicattention point, specified by the shape, moves with time.

In FIG. 18, the shape which the insertion section 203 takes at time t1and the shape which the insertion section 203 takes at time t2 which isafter time t1 by Δt are schematically illustrated. In this case, adiscretionary point on the rear end portion of the insertion section 203moves from first rear end position 614-1 to second rear end position614-2. In the description below, it will be assumed that thediscretionary point on the rear end portion is a position where arear-side position sensor is located. The discretionary point will bereferred to as a rear-side detection point. In the meantime, the distalend of the insertion section 203 moves from first distal end position612-1 to second distal end position 612-2.

In FIG. 19, the shape which the insertion section 203 takes at time t2and the shape which the insertion section 203 takes at time t3 (which isafter time t2 by Δt) are schematically illustrated. In the case shown inFIG. 19, the insertion section 203 is inserted along the subject 910.That is, the rear-side detection point of the insertion section 203moves for a distance of ΔX1 from second rear end position 614-2 to thirdrear end position 614-3. At the time, the distal end of the insertionsection 203 moves along the insertion section 203 for a distance of ΔX2from second distal end position 612-2 to third distal end position612-3.

The turn-around point of the bending portion of the insertion section203 (the point depicted as being located uppermost of the bend in FIG.19) is determined as an attention point 616. In this case, the shape ofthe insertion section 203 is first specified, and then the position ofthe attention point 616 is specified.

In the case shown in FIG. 19, the position of the attention point 616remains at the same position even if the position of the rear-sidedetection point of the insertion section 203 changes. That is, in theperiod from time t2 to time t3, the insertion section 203 is insertedalong the subject 910; in other words, the insertion section 203 slidesin the longitudinal direction thereof. Therefore, the attention point616 remains at the same position from time t2 to time t3.

In FIG. 20, the shape which the insertion section 203 takes at time t2and the shape which the insertion section 203 takes at time t3 which isafter time t2 by Δt are schematically illustrated as another possiblestate. In the case shown in FIG. 20, the insertion section 203 is notinserted along the subject 910. In this case, the rear-side detectionpoint of the insertion section 203 moves for a distance of ΔX3 fromsecond rear end position 614-2 to third rear end position 614-3′. At thetime, the distal end of the insertion section 203 moves upward in FIG.20 for a distance of ΔX5 from second distal end position 612-2 to thirddistal end position 612-3′.

The state shown in FIG. 20 takes place, for example, if the distal endof the insertion section 203 is caught by the subject 910 and theinsertion section 203 cannot move in the longitudinal direction thereof.In this case, the subject 910 is pushed in accordance with the insertionof the insertion section 203. As a result, the position of the attentionpoint 616 changes for a distance of ΔX4 from first position 616-1 tosecond position 616-2 in the direction toward the turn-around point ofthe insertion section 203, in accordance with the movement of therear-side detection point of the insertion section 203. That is, thesubject 910 is extended.

In the state shown in FIG. 20, a shape of the insertion section 203maintains a “stick shape”, and the subject 910 is pushed up by the“handle” of the “stick”. This state will be referred to as a stickstate.

As should be apparent from the comparison between the case shown in FIG.19 and the case shown in FIG. 20, a determination can be made as towhether or not the insertion section 203 is inserted along the subject,based on the variation in the position of the attention point. In theexample described above, it is shown that the insertion section 203 movein parallel in the stick state. However, if the insertion section 203 isdeformed, the amount of movement of the rear-side detection point andthe amount of movement of the attention point differ from each other. Inaddition, how the subject 910 is extended can be determined based on howthe position of the attention point changes. Where the subject isextended, the insertion section 203 pushes or presses the subject 910.That is, as indicated by the outlined arrow in FIG. 20, the subject 910presses the insertion section 203. Conversely, the insertion section 203pushes back the subject 910. Accordingly, the level of pressing appliedto the subject can be determined based on the variation in how theposition of the attention point.

FIG. 21 shows how the position of an attention point changes with timeor in relation to the amount of movement ΔX1 of a detection point. InFIG. 21, the position of the attention point is indicated, with thedirection toward the turn-around point being shown as the plusdirection. When the insertion section 203 is inserted normally, asindicated by the solid line, the position of the attention pointfluctuates in such a manner that the value of the position of theattention point is smaller than threshold a1 at all times. When theinsertion section 203 is in the stick state, as indicated by the brokenline, the position of the attention point changes in such a manner thatthe value of the position exceeds threshold a1.

With respect to the value of the position of the attention point,thresholds a1 and b1 can be properly determined. For example, thresholda1 may be a value in response to which a warning indicating that thesubject 910 begins to extend is issued, and threshold b1 may be a valuein response to which a warning indicating that further extension of thesubject 910 is dangerous is issued. With the thresholds being determinedproperly, information on the position of the attention point can be usedas information for supporting the operation of the endoscope 200,including a warning to the user and a warning signal output to thecontroller 310.

Let us assume that second operation support information α2 is introducedas a value representing the state of the insertion section 203 describedabove. The second operation support information α2 is defined asfollows:α2≡|ΔXc|/|ΔXd|where ΔXc is a displacement of the attention point and ΔXd is adisplacement of the rear-side detection point. The second operationsupport information α2 indicates that the closer to 0 the value of thesecond operation support information α2 is, the more properly theinsertion section 203 is inserted along the subject 910, and the closerto 1 the value of the second operation support information α2 is, themore strongly the insertion section 203 pushes the subject 910.

The second operation support information α2 may be defined as follows:α2≡(ΔXc+C2)^(L)/(|ΔXd|+C1)^(M)where C1, C2, L and M are any real numbers.

By way of example, let us consider the case where Nd<k1·P (1≥k2>>k1≥0)is satisfied, where Nd and Nc (Nd, Nc≥0) denote detection noisecomponent levels of ΔXd and ΔXc, P denotes how the insertion sectionpushes the subject when it comes into contact with the subject andwithout application of a load, and k1 and k2 denote parameters(1≥k2>>k1≥0).

When |ΔXd|<k2·P at a given time, ΔXd and ΔXc are calculated, with thetime periods or the moving amounts corresponding to a predeterminednumber of times until the given time being accumulated, in such a manneras to attain the state where |ΔXd|≥k2·P. In the state where |ΔXd|≥k2·P,parameters C1, C2, L and M are determined as follows:C1=−NdC2=NcL=M=2

As N1 and N2, values which are approximately three times as large as thestandard deviations (σ) of noise levels may be used.

By determining the settings as above, the second operation supportinformation α2 is obtained which takes into account the effects of noisefor a certain movement and reduces the adverse effects of detectionfailure. In addition, by performing measurement in such a manner as tosatisfy k2·P<<|ΔXd|<P, the second operation support information α2ensures no load or light load on the subject. The way for reducing theadverse effects of noise can be applied to the calculation of othersupport information.

FIG. 22 schematically illustrates a configuration example of theoperation supporting apparatus which can be employed for implementingthe second state determination method.

The insertion/removal supporting apparatus 100 comprises a positionacquisition unit 110, a shape acquisition unit 120, a statedetermination unit 130 and a support information generation unit 180.The detection point acquisition unit 111 of the position acquisitionunit 110 acquires the position of a detection point where the positionsensor on the rear end side of the insertion section 203 is arranged,based on information output from the sensor 201. The shape acquisitionunit 120 acquires the shape of the insertion section 203, based oninformation output from the sensor 201. The attention point acquisitionunit 121 of the shape acquisition unit 120 acquires the position of anattention point, which is the turn-around point of a bending portion ofthe insertion section 203, based on the shape of the insertion section203.

The state determination unit 130 includes a displacement acquisitionunit 151, a displacement information calculation unit 152 and anattention-point state determination unit 153. The displacementacquisition unit 151 calculates a displacement of an attention point,based on how the position of the attention point changes with time anddisplacement analysis information 192-3 stored in the program memory192. The displacement acquisition unit 151 calculates a displacement ofa detection point, based on how the position of the detection pointchanges with time and displacement analysis information 192-3 stored inthe program memory 192. As described above, the displacement acquisitionunit 151 functions as a first displacement acquisition unit foracquiring the first displacement of the attention point and alsofunctions as a second displacement acquisition unit for acquiring thesecond displacement of the detection point.

The displacement information calculation unit 152 calculatesdisplacement information based on both the calculated displacement ofthe attention point and the calculated displacement of the detectionpoint. The attention-point state determination unit 153 calculates astate of the attention point, based on the calculated displacementinformation and support-information determination reference information192-4 stored in the program memory 192.

The support information generation unit 180 generates operation supportinformation, based on the determined state of the attention point. Theoperation support information is fed back to the control of thecontroller 310, is displayed on the display 320, or is stored in therecording device 196.

How the insertion/removal supporting apparatus 100 operates in thesecond state determination method will be described with reference tothe flowchart shown in FIG. 23.

In step S201, the insertion/removal supporting apparatus 100 acquiresoutput data from the sensor 201. In step S202, the insertion/removalsupporting apparatus 100 acquires the position of a rear-side detectionpoint, based on the data acquired in step S201.

In step S203, the insertion/removal supporting apparatus 100 acquiresthe shape of the insertion section 203, based on the data acquired instep S201. In step S204, the insertion/removal supporting apparatus 100acquires the position of an attention point, based on the shape of theinsertion section 203 acquired in step S203.

In step S205, the insertion/removal supporting apparatus 100 acquireshow the position of the attention point moves with time. In step S206,the insertion/removal supporting apparatus 100 calculates an evaluationvalue of the positional change of the attention point, such as thesecond operation support information α2, based on the positional changethe detection point and the positional change of the attention point. Instep S207, the insertion/removal supporting apparatus 100 performevaluation of extension such as whether an extension occurs in thevicinity of the attention point, and if the extension occurs, evaluatesthe degree of extension, based on the evaluation value calculated instep S206.

In step S208, the insertion/removal supporting apparatus 100 generatesproper support information to be used in later processing, based on thedetermination result representing whether the extension of the subjectoccurs and on the second operation support information α2 etc., andoutputs the support information, for example, to the controller 310 andthe display 320.

In step S209, the insertion/removal supporting apparatus 100 determineswhether a termination signal for terminating the processing is entered.Unless the termination signal is entered, the processing returns to stepS201. That is, the processing mentioned above is repeated until thetermination signal is entered, and operation support information isoutput. If the termination signal is entered, the processing is broughtto an end.

The use of the second state determination method enables thedisplacement of an attention point to be specified, and operationsupport information representing whether the extension of the subject isoccurred or not is generated based on the displacement of the attentionpoint. In the above example, it is shown that the operation supportinformation is generated by directly sensing the position of therear-side detection point. However, the present invention is not limitedto this. The operation support information may be generated usinginformation on attention points, namely any points of the insertionsection 203. Where the positions of attention points are used, thepositions of the attention points are acquired not by the detectionpoint acquisition unit 111 but by the position acquisition unit 110, andthe positions of the acquired attention points are used. In the otherrespects, the processing is similar to that described above.

[Variant]

An attention point may be any point of the insertion section 203. If theshape of the insertion section 203 has a specific feature, and anattention point can be specified based on the shape, the attention pointmay be any point of the insertion section 203. For example, as shown inFIG. 24, not only a first attention point 617 specified by a bendinitially generated when the insertion section 203 is inserted into thesubject 910 but also a second attention point 618 specified by a bendsubsequently generated when the insertion section 203 is insertedfurther, may be analyzed. When the insertion section 203 is inserted,there may be a case where the first attention point 617 remains at thesame position whereas the second attention point 618 changes inposition, as shown in FIG. 25, for example. In this case, the secondstate determination method generates a determination result indicatingthat no extension is generated at the first attention point 617 and anextension is generated at the second attention point 618, based on theamount of movement ΔX1 of the rear-side detection point and the amountof movement ΔX2 of the second attention point 618, and outputs thedetermination result as operation support information.

The attention point may be any point as long as it is a characteristicpoint determined based on the shape of the insertion section 203. Forexample, the attention point may be the turn-around point of a bend, asin the above example. Alternatively, it may be the start position of thebend, or any point (e.g., a middle point) of the straight portionbetween the bend and the distal end of the insertion section 203. Wherethe insertion section 203 has two bends, the attention point may be anintermediate point between the two bends. In any case, operation supportinformation is output, in a similar manner to that of the examplesdescribed above. Although the detection point is described as any pointon the rear end portion of the insertion section 203, this is notrestrictive. The position of the detection point may be any point of theinsertion section 203.

[Third State Determination Method]

In the third state determination method, the state of the insertionsection 203 is determined based on how the position of an attentionpoint changes in the insertion section 203.

In FIG. 26, the shape which the insertion section 203 takes at time t1and the shape which the insertion section 203 takes at time t2 which isafter time t1 by Δt are schematically illustrated. In this case, adiscretionary point on the rear end portion of the insertion section 203moves by distance ΔX1 from first rear end position 624-1 to second rearend position 624-2. In the description below, it is assumed that thediscretionary point on the rear end portion is a position where aposition sensor is arranged. This point will be referred to as arear-side detection point. In the meantime, the distal end of theinsertion section 203 moves by distance ΔX2 from first distal endposition 622-1 to second distal end position 622-2. Ideally, distanceΔX1 and distance ΔX2 are equal to each other. The turn-around point ofthe bending portion which the insertion section 203 takes at time t2 isdetermined as an attention point 626-2. The point of the insertionsection 203 located at the same position as the attention point 626-2will be referred to as a second point 628-2. The second point 628-2 canbe represented by the distance by which it is away from the distal endof the insertion section 203, as viewed in the longitudinal axis of theinsertion section 203.

In FIG. 27, the shape which the insertion section 203 takes at time t2and the shape which the insertion section 203 takes at time t3 which isafter time t2 by Δt are schematically illustrated. In the case shown inFIG. 27, the insertion section 203 is inserted substantially along thesubject 910. In this case, the rear-side detection point of theinsertion section 203 is inserted by distance ΔX1.

The turn-around point of the bending portion which the insertion section203 takes at time t3 is determined as an attention point 626-3. Thepoint on the insertion section 203 which is moved together in accordancewith the insertion or removal of the insertion section 203, which isaway from the distal end constantly by the same distance, and which islocated at the same position as the attention point 626-3 will bereferred to as a third point 628-3. Like the second point 628-2, thethird point 628-3 can be represented by the distance by which it is awayfrom the distal end of the insertion section 203.

In the example shown in FIG. 27, the point indicating the position ofthe attention point 626 of the insertion section 203 moves from thesecond point 628-2 to the third point 628-3 from time t2 to time t3. Interms of the relative position as expressed from the distal end of theinsertion section 203, the point indicating the attention point 626moves rearward along the insertion section 203 by ΔSc. When theinsertion section 203 is inserted along the subject completely, thedisplacement ΔSc of the attention point 626 of the insertion section 203from the second point 628-2 to the third point 628-3 is equal to thedisplacement ΔX1 of the rear-side detection point of the insertionsection 203. The state where the insertion section 203 is inserted alongthe subject will be referred to as a state where the insertion section203 has self-following property.

Even when the insertion section 203 is not inserted completely along thesubject, there may be a case where the insertion section 203 can beregarded as being substantially along the subject. In such a case, thedisplacement ΔSc from the second point 628-2 to the third point 628-3 issubstantially equal to the displacement ΔX1 of the rear-side detectionpoint of the insertion section 203. In such a case, the self-followingproperty can be regarded as high.

FIG. 28 schematically illustrates the shapes the insertion section 203takes at times t2 and t3 where the insertion section 203 is not insertedalong the subject 910. In this case as well, the rear-side detectionpoint of the insertion section 203 is inserted by distance ΔX1. In thecase shown in FIG. 28, the insertion section 203 is in the stick state,and the subject 910 is extended.

Where the turn-around point of the bend which the insertion section 203has at time t3 is determined as an attention point 626-3′, the point ofthe insertion section 203 located at the same position as the attentionpoint 626-3′ will be referred to as a third point 628-3′. The pointindicating the position of the attention point 626 of the insertionsection 203 moves rearward by ΔSc′ along the insertion section 203 fromthe second point 628-2 to the third point 628-3′.

When the insertion section 203 is not completely along the subject, thepoint indicating the position of the attention point 626 of theinsertion section 203 moves from the second point 628-2 to the thirdpoint 628-3′, and its displacement ΔSc′ is far shorter than thedisplacement ΔX1 of the rear-side detection point of the insertionsection 203.

As described above, a determination is made as to whether or not theinsertion section 203 is inserted along the subject, based on theinsertion amount of the insertion section 203 and the positional changeof the attention point of the insertion section 203. When the insertionamount of the insertion section 203 and the positional change of theattention point of the insertion section 203 are related, it is madeclear that the insertion section 203 is inserted along the subject 910.When the insertion amount of the insertion section 203 and thepositional change of the attention point of the insertion section 203are not related, it is made clear that the insertion section 203 is notinserted along the subject 910.

FIGS. 29 and 30 illustrate examples of how the insertion section 203 isafter it is inserted along the subject 910 as shown in FIG. 27. In FIG.29, the insertion section 203 is inserted along the subject 910 at thefirst flexure 911 shown in the upper portion, and the distal end of theinsertion section 203 reaches the second flexure 912 shown in the lowerportion. In FIG. 30, the insertion section 203 is inserted along thesubject 910 at the first flexure 911, and the insertion section 203 isnot inserted along the subject 910 but is in the stick state at thesecond flexure 912.

FIG. 31 schematically illustrates how positions of attention points ofthe insertion section 203 change their positions in the case shown inFIGS. 29 and 30. When the insertion section 203 is gradually insertedfrom the insertion port of the subject 910 with time t1, t2, t3 and t4in sequence, the first attention point R1 corresponding to the firstflexure 911 initially detected moves rearward in accordance with anincrease in the insertion amount.

The second attention point R2 corresponding to the second flexure 912 isdetected at time t3, as shown in FIG. 31. The second attention point R2does not move rearward even when the insertion amount is increasing. Theshape which the insertion section 203 has at the second attention pointR2 can be changed back to the original shape. As described above, thepoints determined based on the attention points change in positiondifferently between portions having high self-following property andportions having low self-following property.

The third state determination method will be described in more detailwith reference to FIGS. 32 to 35. Let us assume that the insertionsection 203 changes its state with time in the order of the first state203-1, the second state 203-2 and the third state 203-3, as shown inFIG. 32. Consideration will be given of the case where the insertionsection 203 is inserted along the subject 910 from the first state 203-1to the second state 203-2 and pushes upward and extends the subject 910from the second state 203-2 to the third state 203-3.

This case is illustrated in FIG. 33, in which the abscissa axisrepresents the passage of time, namely the positional change of therear-side detection point 724, and the ordinate axis represents theattention point 626 of the insertion section 203, namely, the distanceby which the attention point 626 is away from the distal end. As shownin FIG. 33, the detection point is not detected for a certain time fromthe start of insertion, as in the first state 203-1. When the insertionsection 203 is inserted along the subject 910, as in the period of timefrom the first state 203-1 to the second state 203-2, the distance ofthe attention point from the distal end gradually increases, asindicated in FIG. 33. When the insertion section 203 is in the stickstate, as in the period of time from the second state 203-2 to the thirdstate 203-3, the distance of the attention point from the distal end isconstant, as indicated in FIG. 33.

Consideration will be given of the case where the insertion section 203is inserted along the subject 910 from the first state 203-1 to thesecond state 203-2 and obliquely pushes the subject 910 from the secondstate 203-2 to the third state 203-3. This case is illustrated in FIG.35, in which the abscissa axis represents the passage of time, namelythe positional change of the rear-side detection point 624, and theordinate axis represents the attention point 626 of the insertionsection 203, namely, the distance by which the attention point 626 isaway from the distal end. The data shown in FIG. 35 is similar to thatshown in FIG. 33.

The criterion formula representing the self-following property R isdefined as follows:R≡|ΔSc|/|ΔX1|where ΔSc is a moving amount for which an attention point moves alongthe shape of the insertion section 203, and ΔX1 is an amount of movementfor which a detection point, any point on the rear end portion of theinsertion section 203, moves. This case is expressed in FIG. 36, inwhich the abscissa axis represents the passage of time or the amount ofmovement ΔX1 by which any point moves (namely the insertion amount), andthe ordinate axis represents the self-following property R. When theinsertion section 203 is inserted normally along the subject, theself-following property R takes values which are close to 1, asindicated by the solid line. On the other hand, when the insertionsection 203 is in the stick state, the self-following property R takesvalues far smaller than 1.

The self-following property R may be defined as follows:R≡(ΔSc+C2)^(L)/(|ΔX1|+C1)^(M)where C1, C2, L and M are any real numbers.

Assuming that the detection noise component levels of ΔX1 and ΔSc are N1and Nc (N1, Nc≥0), parameters C1, C2, L and M are defined as follows:

$\begin{matrix}{{C\; 1} = {N\; 1}} & {{{\Delta\; X\; 1}} \geqq {N\; 1}} \\{{C\; 2} = {{- N}\; c}} & {{{\Delta\; X\; 2}} \geqq {N\; c}} \\{= {- {{\Delta\; X\; 2}}}} & {{{\Delta\; X\; 2}} < {N\; c}}\end{matrix}$ L = M = 4

As N1 and Nc, values which are approximately three times as large as thestandard deviations (σ) of noise levels may be set.

In the measure against noise, C1 is positive and C2 is negative, asabove, and by taking such a measure, the self-following property R canbe operation support information is obtained which reduces the adverseeffects caused by the detection noise and lessens the detection errorscaused by the detection noise. Where the orders of L and M are 2 ormore, a decrease in the ratio of ΔSc to ΔX1 can be sensitively detected,and a determination can be easily made as to whether or not theself-supporting property is degraded. The way for reducing the adverseeffects of noise can be applied to the calculation of other supportinformation.

As shown in FIG. 36, with respect to the self-supporting property R,thresholds a3 and b3 can be properly determined. For example, thresholda3 may be a value in response to which a warning indicating that thesubject 910 begins to extend is issued, and threshold b3 may be a valuein response to which a warning indicating that further extension of thesubject 910 is dangerous is issued. With the thresholds being determinedproperly, the value of the self-supporting property R can be used asinformation for supporting the operation of the endoscope 200, includinga warning to the user and a warning signal supplied to the controller310.

FIG. 37 schematically illustrates a configuration example of theoperation supporting apparatus which can be employed for implementingthe third state determination method.

The insertion/removal supporting apparatus 100 comprises a positionacquisition unit 110, a shape acquisition unit 120, a statedetermination unit 130 and a support information generation unit 180.The detection point acquisition unit 111 of the position acquisitionunit 110 acquires the position of a detection point where the positionsensor on the rear end side of the insertion section 203 is arranged,based on information output from the sensor 201.

The shape acquisition unit 120 acquires the shape of the insertionsection 203, based on information output from the sensor 201. Theattention point acquisition unit 121 of the shape acquisition unit 120acquires the position of an attention point, based on the shape of theinsertion section 203.

The state determination unit 130 includes a displacement acquisitionunit 161, a displacement information calculation unit 162 and anattention-point state determination unit 163. The displacementacquisition unit 161 calculates how the position of an attention pointchanges in the insertion section 203, based on the shape of theinsertion section 203, the position of the attention point anddisplacement analysis information 192-5 stored in the program memory192. The displacement acquisition unit 161 calculates how the positionof a detection point changes, based on the position of the rear-sidedetection point of the insertion section 203 and the displacementanalysis information 192-5 stored in the program memory 192. Asdescribed above, the displacement acquisition unit 161 functions as afirst displacement acquisition unit for acquiring the first displacementof the attention point and also functions as a second displacementacquisition unit for acquiring the second displacement of the detectionpoint.

The displacement information calculation unit 162 compares thedisplacement of the attention point in the insertion section 203 withthe displacement of the rear-side detection point in the insertionsection 203, and calculates displacement information, using thedisplacement analysis information 192-5 stored in the program memory192. The attention-point state determination unit 163 calculates a stateof the attention point, based on the displacement information anddetermination reference information 192-6 stored in the program memory192.

The support information generation unit 180 generates operation supportinformation, based on the determined state of the attention point. Theoperation support information is fed back to the control of thecontroller 310, is displayed on the display 320, or is stored in therecording device 196.

How the insertion/removal supporting apparatus 100 operates in the thirdstate determination method will be described with reference to theflowchart shown in FIG. 38.

In step S301, the insertion/removal supporting apparatus 100 acquiresoutput data from the sensor 201. In step S302, the insertion/removalsupporting apparatus 100 acquires the position of a rear-side detectionpoint, based on the data acquired in step S301.

In step S303, the insertion/removal supporting apparatus 100 acquiresthe shape of the insertion section 203, based on the data acquired instep S301. In step S304, the insertion/removal supporting apparatus 100acquires the position of an attention point, based on the shape of theinsertion section 203 acquired in step S303.

In step S305, the insertion/removal supporting apparatus 100 calculateswhere in the insertion section 203 the attention point is located. Instep S306, the insertion/removal supporting apparatus 100 acquires howthe position of the attention point in the insertion section 203 moveswith time. In step S307, the insertion/removal supporting apparatus 100calculates an evaluation value representing how the position of theattention point changes in the insertion section 203 havingself-following property R, based on the positional change of thedetection point and the positional change of the attention point in theinsertion section 203. In step S308, the insertion/removal supportingapparatus 100 perform evaluation of extension such as whether anextension occurs in the vicinity of the attention point and if theextension occurs, evaluates the degree of extension, based on theevaluation value calculated in step S307.

In step S309, the insertion/removal supporting apparatus 100 generatesproper support information to be used in later processing, based on thedetermination result representing whether the extension of the subjectoccurs and on the self-supporting property R etc., and outputs thesupport information, for example, to the controller 310 and the display320.

In step S310, the insertion/removal supporting apparatus 100 determineswhether a termination signal for terminating the processing is entered.Unless the termination signal is entered, the processing returns to stepS301. That is, the processing mentioned above is repeated until thetermination signal is entered, and operation support information isoutput. If the termination signal is entered, the processing is broughtto an end.

The use of the third state determination method enables the displacementof the attention point in the insertion section 203 to be specified, andoperation support information representing whether the extension of thesubject is occurred or not is generated based on the relations betweenthe displacement and the insertion amount of the rear end portion of theinsertion section 203, namely the displacement of the detection point,etc. The operation support information includes, for example,information representing the states of the insertion section 203 andsubject 910, information representing whether the insertion section 203pushes or presses the subject 910, information representing a level ofpushing or pressing applied to the subject 910, etc. The operationsupport information also includes information representing whether theinsertion section 203 or the subject 910 is in an abnormal state.

Like the attention points used in the second state determination method,the attention points used in the third state determination method may beany points as long as they are characteristic points determined based onthe shape of the insertion section 203. For example, an attention pointmay be the turn-around point of a bending portion, as in the aboveexample. Alternatively, it may be the start position of the bendingportion, or any point (e.g., a middle point) of the straight portionbetween the bending portion and the distal end. Where the insertionsection 203 has two bending portions, the attention point may be anintermediate point between the two bending portions. A detection pointis not limited to a point on the rear end portion but may be any point.Instead of the detection point, an attention point (i.e., any point) maybe used. Where attention points are used, the positions of the attentionpoints are acquired not by the detection point acquisition unit 111 butby the position acquisition unit 110, and the positions of the acquiredattention points are used.

[Variant]

In a variant of the third state determination method, the state of theinsertion section 203 is determined based on the amount of movement forwhich the insertion section 203 moves in a tangential direction of theshape of the insertion section 203. In particular, the state of theinsertion section 203 is determined based on the amount of movement forwhich an attention point moves in the tangential direction.

As schematically illustrated in FIG. 39, an attention point 631 isacquired based on the shape of the insertion section 203. Subsequently,a tangential direction 632 of the insertion section 203 is specified atthe attention point 631, based on the shape of the insertion section203. In the variant of the third state determination method,self-following property is evaluated based on the relations between themoving direction of the point on the insertion section 203 correspondingto the attention point 631 and the tangential direction 632. That is,the higher the degree of coincidence between the moving direction of thepoint of the insertion section 203 corresponding to the attention point631 and the tangential direction 632 of the insertion section 203 is,the higher will be the self-following property.

As shown in FIG. 40, the state of the insertion section 203 and thestate of the subject 910 are evaluated, for example, based on the ratioof ΔSr/ΔX, where ΔX is a displacement of a point corresponding to theattention point, and ΔSr is a displacement of that displacement in thetangential direction. That is, the state of the insertion section 203and the state of the subject 910 are evaluated based on the angle θwhich is formed between the tangential direction and the movingdirection at the attention point.

Let us assume that the insertion section 203 changes its state with timein the order of the first state 203-1, the second state 203-2 and thethird state 203-3, as shown in FIG. 32. FIG. 41 shows |ΔSr|/|ΔX| in thiscase, which represents how the ratio of the displacement in thetangential direction to the displacement of the insertion section 203changes with time. In the period of time from the first state 203-1 tothe second state 203-2, the self-following property is high, so that theratio of the displacement of a given point in the tangential directionto the displacement of the given point in the moving direction isapproximately equal to 1 when the insertion section 203 changes itsposition. On the other hands, in the period of time from the secondstate 203-2 to the third state 203-3, the insertion section 203 does notmove in the tangential direction but moves in such a manner as to extendthe subject 910 in the direction normal to the tangential line. As aresult, when a given point of the insertion section 203 moves, the ratioof the displacement in the tangential direction to the displacement inthe moving direction is approximately equal to 0.

Let us assume that the insertion section 203 changes its state with timein the order of the first state 203-1, the second state 203-2 and thethird state 203-3, as shown in FIG. 34. FIG. 42 shows |ΔSr|/|ΔX| in thiscase, which represents how the displacement of the insertion section 203changes in position with time. In the period of time from the firststate 203-1 to the second state 203-2, the self-following property ishigh, so that the ratio of the displacement of a given point in thetangential direction to the displacement of the given point in themoving direction is approximately equal to 1 when the insertion section203 changes its position. On the other hands, in the period of time fromthe second state 203-2 to the third state 203-3, the insertion section203 moves in a direction slanted with respect to the tangentialdirection. As a result, the ratio of the displacement of a given pointin the tangential direction to the displacement of the given point inthe moving direction is approximately equal to 0.5.

Where ΔSr and ΔX are vectors, either (ΔSr·ΔX)/(|ΔSr|×|ΔX|) or cos θ maybe used as an index (“·” is an inner product). Unlike the case where theself-following property is confirmed simply using |ΔSr|/|ΔX|, the use ofthe index makes it clear that the self-following property is very lowwhen ΔX and ΔSr are those obtained in the movement in the oppositedirection.

[Fourth State Determination Method]

In connection with the variant of the third state determination method,values used for evaluation represent how a point corresponding to anattention point in the insertion member moves in a tangential direction.The values used for evaluation may be those representing how the pointmoves in a direction normal to the tangential line, i.e., in a lateraldirection of the insertion section 203. For example, let us assume thatΔXc is a moving amount for which the insertion section 203 moves in adirection normal to the tangential line at an attention point as shownin FIG. 40, and that ΔX1 is an amount of movement for which any point onthe rear end side of the insertion section 203 moves, namely, an amountof movement for which a detection point on the rear side moves. In thiscase, the criterion formula representing lateral movement B is definedas follows:B=|ΔXc|/|ΔX1|

This case is expressed in FIG. 43, in which the abscissa axis representsthe passage of time or the amount of movement ΔX1 by which any pointmoves (namely the insertion amount), and the ordinate axis representslateral movement B. That is, when the insertion section 203 is insertednormally along the subject, lateral movement B takes values which areclose to 0, as indicated by the solid line. On the other hand, when theinsertion section 203 is in the stick state, lateral movement B takesvalues close to 1.

As shown in FIG. 43, with respect to the lateral movement B, thresholdsa4 and b4 can be properly determined. For example, threshold a4 may be avalue in response to which a warning indicating that the subject 910begins to extend is issued, and threshold b4 may be a value in responseto which a warning indicating that further extension of the subject 910is dangerous is issued. With the thresholds being determined properly,the value of the lateral movement B can be used as information forsupporting the operation of the endoscope 200, including a warning tothe user and a warning signal output to the controller 310.

The movement of an attention point of the insertion section 203 may beexpressed either as a movement in the lateral direction or as a movementin the tangential direction. In either case, what is detected is thesame. In either case, the amount of movement of an attention point maybe compared with the amount of movement of an attention point or adetection point of the rear end portion of the insertion section 203. Inaddition, analysis may be made based only on the ratio of the amount ofmovement of a given point to its component in the tangential direction,i.e., without using the amount of movement of an attention point or adetection point on the rear end portion of the insertion section. Ineither case, the higher the degree of coincidence between the tangentialdirection of the insertion section 203 and the moving direction of theinsertion section 203 is, the higher will be the self-following propertyof the insertion section 203. That is, the insertion section 203 can beregarded as being inserted along the subject 910. This holds true of theexamples explained below.

FIG. 44 schematically illustrates a configuration example of theoperation supporting apparatus which can be employed for implementingthe fourth state determination method. The configuration example of theoperation supporting apparatus is designed to use a detection point onthe rear end side.

The insertion/removal supporting apparatus 100 comprises a positionacquisition unit 110, a shape acquisition unit 120, a statedetermination unit 130 and a support information generation unit 180.The detection point acquisition unit 111 of the position acquisitionunit 110 acquires the position of a detection point where positiondetection on the rear end side of the insertion section 203 isperformed, based on information output from the sensor 201.

The shape acquisition unit 120 acquires the shape of the insertionsection 203, based on information output from the sensor 201. Theattention point acquisition unit 121 of the shape acquisition unit 120acquires the position of an attention point.

The state determination unit 130 includes a tangential directionacquisition unit 171, a moving direction acquisition unit 172 and anattention-point state determination unit 173. The tangential directionacquisition unit 171 calculates a tangential direction at an attentionpoint of the insertion section 203, based on the shape of the insertionsection 203, the position of the attention point and displacementanalysis information 192-5 stored in the program memory 192. The movingdirection acquisition unit 172 calculates a moving direction of anattention point, based on the position of the attention point anddisplacement analysis information 192-5 stored in the program memory192. The attention point state determination unit 173 calculates a stateof the attention point, based on the tangential direction at theattention point of the insertion section 203, the moving direction ofthe attention point and determination reference information 192-6 storedin the program memory 192.

The support information generation unit 180 generates operation supportinformation, based on the determined state of the attention point. Theoperation support information is fed back to the control of thecontroller 310, is displayed on the display 320, or is stored in therecording device 196.

How the insertion/removal supporting apparatus 100 operates in thefourth state determination method will be described with reference tothe flowchart shown in FIG. 45.

In step S401, the insertion/removal supporting apparatus 100 acquiresoutput data from the sensor 201. In step S402, the insertion/removalsupporting apparatus 100 acquires the position of a rear-side detectionpoint, based on the data acquired in step S401.

In step S403, the insertion/removal supporting apparatus 100 acquiresthe shape of the insertion section 203, based on the data acquired instep S401. In step S404, the insertion/removal supporting apparatus 100acquires the position of an attention point, based on the shape of theinsertion section 203 acquired in step S403.

In step S405, the insertion/removal supporting apparatus 100 calculatesa tangential direction at the attention point of the insertion section203. In step S406, the insertion/removal supporting apparatus 100acquires a moving direction of the position of the insertion section 203corresponding to the attention point and calculates a value representinglateral movement.

In step S407, the insertion/removal supporting apparatus 100 calculatesan evaluation value representing the self-following property at theattention point of the insertion section 203, based on the positionalchange of the detection point and the value representing the lateralmovement. Where the detection point changes in position, the smaller thevalue of the lateral movement is, the higher will be the self-followingproperty.

In step S408, the insertion/removal supporting apparatus 100 performevaluation of extension such as whether an extension occurs in thevicinity of the attention point and if the extension occurs, evaluatesthe degree of extension, based on the evaluation value calculated instep S407.

In step S409, the insertion/removal supporting apparatus 100 generatesproper support information to be used in later processing, based on thedetermination result representing whether the extension of the subjectoccurs and on the degree of extension etc., and outputs the supportinformation, for example, to the controller 310 and the display 320.

In step S410, the insertion/removal supporting apparatus 100 determineswhether a termination signal for terminating the processing is entered.Unless the termination signal is entered, the processing returns to stepS401. That is, the processing mentioned above is repeated until thetermination signal is entered, and operation support information isoutput. If the termination signal is entered, the processing is broughtto an end.

The use of the fourth state determination method enables operationsupport information representing whether the extension of the subject isoccurred or not is generated based on the relations between the movingdirection and the tangential direction at an attention point of theinsertion section 203. The operation support information includes, forexample, information representing the states of the insertion section203 and subject 910, information representing whether the insertionsection 203 pushes or presses the subject 910, information representinga level of pushing or pressing applied to the subject 910, andinformation representing whether the insertion section 203 is in anabnormal state.

In the example mentioned above, an attention point is analyzed, but thisis not restrictive. Any point may be analyzed instead of the attentionpoint. In this case, the self-following property can be evaluated basedon the tangential direction at a selected point and the moving directionof the selected point.

In the above description, reference was made to the case where theself-following property is evaluated based on the relations between theamount of movement of a detection point on the rear end side of theinsertion section 203 and the amount of movement of an attention point.Instead of the detection point, any attention point may be used. Itshould be noted that the amount of movement of the detection point doesnot have to be taken into account. That is, the self-following propertycan be evaluated based only on the ratio of the tangential-directioncomponent of the amount of movement of an attention point to thenormal-direction component of the amount of movement.

The third state determination method and the fourth state determinationmethod are similar in that both methods evaluate the self-followingproperty of the insertion section 203.

[Variant]

In the above example, an attention point is selected based on the shapeof the insertion section 203 and how the attention point moves in atangential direction is analyzed. The distal end of the insertionsection 203 may be selected in place of the attention point, and how thedistal end moves in the tangential direction may be analyzed. Thetangential direction of the distal end is the direction in which thedistal end of the insertion section 203 is directed.

With a state similar to that shown in FIG. 32, as shown in FIG. 46, thedistal end of the insertion section 203 moves rearward from the secondposition 635-2 to the third position 635-3. That is, distal end retreatoccurs. If the endoscope 200 is designed to acquire images in the distalend direction, whether or not the distal end of the insertion section203 moves rearward can be detected based on the acquired images.

Distal end advance P, representing how the distal end of the insertionsection 203 advances in the distal end direction, is defined by thefollowing formula:P=(ΔX2·D)/|ΔX1|where ΔX2 is a displacement vector of the distal end, D is adistal-end-direction vector, and “·” is an inner product.

FIG. 47 shows an example of how the distal end advance P changes inrelation to the passage of time, i.e., the insertion amount ΔX1 of adiscretionary point on the rear end side. In FIG. 47, the solid lineindicates the case where the insertion section 203 is inserted along thesubject 910. In this case, the distal end of the insertion section 203moves in the distal end direction, and the value of the distal endadvance P is close to 1. In FIG. 47, the broken line indicates the casewhere the insertion section 203 is in the stick state. In this case, thedistal end of the insertion section 203 moves rearward, and the value ofthe distal end advance P is close to −1.

With respect to the distal end advance P, thresholds a4′ and b4′ can beproperly determined. For example, threshold a4′ may be a value inresponse to which a warning indicating that the subject 910 begins toextend is issued, and threshold b4′ may be a value in response to whicha warning indicating that further extension of the subject 910 isdangerous is issued. With the thresholds being determined properly, thevalue of the distal end advance P can be used as information forsupporting the operation of the endoscope 200, including a warning tothe user and a warning signal supplied to the controller 310.

As described above, the state of the insertion section 203 or the stateof the subject 910 can be determined based on the distal end advance P,which can be characteristically detected as indicating distal endretreat.

[First to Fourth State Determination Methods]

In each of the state determination methods described above, the degreeof self-following property is evaluated. Where the amounts of movementsof two or more attention points are different, a portion in which theself-following property is low exists between the attention points. Whenthe insertion section is in the stick state, the insertion section ismoving in a lateral direction, and the lateral movement indicates thatthe insertion section includes a portion having low self-followingproperty.

In the first state determination method, the amount of movements of twoor more attention points is detected, and if they are different, theoccurrence of a buckle is determined, for example. Where the buckleoccurs, a portion including the buckle has low self-following property.

In the second state determination method, an attention point isselected, and whether or not a bend of the insertion section has noself-following property is detected, namely, whether or not the bendmoves laterally, pushing up the subject 910.

In the third state determination method, an attention point is selected,and the self-following property is evaluated based on how the positionof the attention point changes in the insertion section 203. In theevaluation of the self-following property, use is made of the phenomenonthat when the self-following property is high, the position of anattention point of the insertion section 203 is determined by theinsertion amount.

In the fourth state determination method, the self-following property isevaluated based on the tangential line of a given point and the movingdirection of the given point. In the evaluation of the self-followingproperty, use is made of the phenomenon that when the self-followingproperty is high, a given point moves in the tangential direction of theshape of the insertion section 203. When the self-following property islow, lateral movement takes place.

The state where the self-following property is low can be regarded as astate where lateral movement is occurring. Therefore, it can be saidthat each of the above state determination methods evaluates the degreeof lateral movement.

Portions which attention should be paid to within the insertion section203 or the subject 910 are those which are located in a flexure of thesubject 910. In the flexure of the subject 910, the insertion section203 is likely to have low self-following property and move laterally inthe flexure, pushing the wall of the subject. It is thereforesignificant to evaluate the state of the insertion section 203 in theflexure of the subject or the state of the flexure of the subject. Inthe second, third and fourth state determination methods, therefore, aflexure is regarded as an attention point and is analyzed.

However, this is not restrictive. Various portions can be regarded asattention points, and the state of the insertion section 203 or thestate of the subject 910 can be analyzed at such attention points in amethod similar to that described above.

As can be seen from the above, the displacement information acquisitionmethod 141 and the interrelation calculation unit 142; the displacementacquisition unit 151, 161 and the displacement information calculationunit 152, 162; or the tangential direction acquisition unit 171 and themoving direction acquisition unit 172 function as a self-followingproperty evaluation unit for evaluating the self-following property inan inserted condition of the insertion section 203. The buckledetermination unit 143 or the attention-point state determination unit153, 163, 173 functions as a determination unit for determining thestate of the insertion section 203 or subject 910 based on theself-following property.

The state of the insertion section 203 or subject 910 is not used solelyfor determining whether the insertion section 203 is inserted along thesubject 910. When inserting the insertion section 203 into the subject910, the user may intentionally change the shape of the subject. Forexample, the user may operate the insertion section 203 in such a mannerthat a flexure of the subject 910 is made substantially straight and theinsertion section 203 can easily move through the flexure. In such anoperation as well, information representing the shape of the insertionsection 203, the shape of the subject 910, the force with which theinsertion section 203 presses the subject 910, etc. is useful to theuser.

[Combination of First to Fourth State Determination Methods]

The first to fourth state determination methods can be used incombination. For example, where the first state determination method iscombined with another state determination method, the followingadvantages are obtained. The use of the first state determination methodenables acquisition of information regarding a buckle occurring in theinsertion section 203. By subtracting the displacement componentsresulting from the buckle, the accuracy of the operation resultsobtained in the second to fourth state determination methods can beimproved, and the user can accurately understand what is happening tothe insertion section 203. Where the first to fourth state determinationmethods are used in combination, the amount of information obtainedthereby is larger than the amount of information obtained in eachmethod. This is effective in enhancing the accuracy of supportinformation to be generated.

[Operation Supporting Information]

The support information generation unit 180 generates operation supportinformation, using information obtained in the first to fourth statedetermination methods and representing the state of the insertionsection 203 or the state of the subject 910. The operation supportinformation is information for supporting the user when the user insertsthe insertion section 203 into the subject 910.

The operation support information is generated by not only theinformation obtained in the first to fourth state determination methodsand representing the state of the insertion section 203 or the state ofthe subject 910, but also information on combination of various kinds ofinformation, including information entered from the input device 330 andinformation supplied from the controller 310. Necessary information canbe acquired by properly using the first to fourth state determinationmethods in combination.

The operation support information is displayed, for example, on thedisplay 320, and the user operates the endoscope 200 while takingindication of the display into consideration. The operation supportinformation is fed back to the control of the controller 310. Since thisenables the controller 310 to adequately control the endoscope 200, theuser's operation of the endoscope 200 can be supported. The use of theoperation support information enables smooth operation of the endoscope200.

Additional advantages and modifications will readily occur to thoseskilled in the art. Therefore, the invention in its broader aspects isnot limited to the specific details and representative embodiments shownand described herein. Accordingly, various modifications may be madewithout departing from the spirit or scope of the general inventiveconcept as defined by the appended claims and their equivalents.

What is claimed is:
 1. A supporting apparatus for supporting insertionof a flexible insertion member into a subject and removal thereof, thesupporting apparatus comprising: a controller comprising hardware, thecontroller being configured to: determine a first attention point on theinsertion member while within the subject at a first time based on afirst calculated shape of the insertion member at the first time, thefirst attention point being a characteristic point determined based onthe shape of the insertion member at the first time, after adisplacement of the insertion member within the subject, at a secondtime after the first time, determine a new first attention point basedon a second calculated shape of the insertion member at the second time,the new first attention point being the characteristic point determinedbased on the shape of the insertion member at the second time; determinea first displacement between the first attention point and the new firstattention point; determine a second displacement of at least onerear-side attention point fixed to the insertion member, the seconddisplacement being from the first time to the second time, the seconddisplacement being along a predetermined portion in a longitudinaldirection of the insertion member; calculate a relationship between thefirst displacement and the second displacement; determine a state of theinsertion member or the subject based on the calculated relationship;and determines that a level of abnormality of the state of the insertionmember or the subject increases as a ratio of the first displacement tothe second displacement increases.
 2. The supporting apparatus accordingto claim 1, wherein the controller determines that the smaller the firstdisplacement is, the more proper the insertion member is inserted alongthe subject.
 3. The supporting apparatus according to claim 1, whereinthe first attention point and new first displacement are determinedbased on a bending portion of the insertion member.
 4. The supportingapparatus according to claim 3, wherein the first attention point andnew first displacement are each turn-around points of the bendingportion of the insertion member.
 5. The supporting apparatus accordingto claim 1, wherein the state to be determined includes a staterepresenting whether or not the insertion member extends the subject ata position corresponding to the new first attention point.
 6. Thesupporting apparatus according to claim 1, wherein the state to bedetermined includes a state where the insertion member pushes or pressesthe subject.
 7. The supporting apparatus according to claim 1, furthercomprising: a plurality of position sensors arranged in the insertionmember, wherein the controller calculates the shape of the insertionmember at the first time and at the second time, based on detectionresults of the position sensors, and calculates the positions of thefirst attention point and the new first attention point, based on thecalculated shape of the insertion member at the first time and at thesecond time and the detection results of the position sensors, anddetermines the first displacement, based on the position correspondingto the new first attention point.
 8. The supporting apparatus accordingto claim 1, further comprising: an insertion amount sensor configured tobe arranged at an insertion port of the subject and to detect aninsertion amount of the insertion member; and a shape sensor whichacquires information on the shape of the insertion member at the firsttime and at the second time, wherein the controller calculates the shapeof the insertion member at the first time and at the second time, basedon a detection result of the shape sensor, and calculates positions ofthe first attention point and the new first attention point, based onthe calculated shape of the insertion member at the first time and atthe second time and the detection result of the insertion amount sensor,and determines the first displacement, based on the position of the newfirst attention point.
 9. The supporting apparatus according to claim 1,further comprising: a position sensor arranged at the insertion member;and a shape sensor which acquires information on the shape of theinsertion member at the first time and at the second time, wherein thecontroller calculates the shape of the insertion member at the firsttime and at the second time, based on a detection result of the shapesensor, and calculates positions of the first attention point and thenew first attention point, based on the calculated shape of theinsertion member at the first time and at the second time and thedetection result of the position sensor, and determines the firstdisplacement, based on the position of the new first attention point.10. The supporting apparatus according to claim 1, further comprising: aposition sensor arranged at the insertion member, wherein the controllerdetermines the second displacement, based on detection results of theposition sensor.
 11. The supporting apparatus according to claim 1,further comprising: an insertion amount sensor configured to be arrangedat an insertion port of the subject and to detect an insertion amount ofthe insertion member; and a shape sensor which acquires information onthe shape of the insertion member at the first time and at the secondtime, wherein the controller determines the second displacement, basedon detection results of the insertion amount sensor and detectionresults of the shape sensor.
 12. The supporting apparatus according toclaim 1, further comprising: a position sensor arranged at the insertionmember; and a shape sensor which acquires information on the shape ofthe insertion member at the first time and at the second time, whereinthe controller determines the second displacement, based on detectionresults of the position sensor and detection results of the shapesensor.